KR100193798B1 - Upright Fillet Welding Device - Google Patents

Abstract

An object of the present invention is to reduce work labor, improve work efficiency, improve welding line imitation accuracy, simplify structure, improve operation, reliability of durability, carry-in, and ease of carrying out of mounting and peeling in upright fillet welding. .

Rail 51; Rail stands 60a and 60b; A first arm y1 extending in the x direction substantially at an angle of 45 ° with respect to the perpendicular perpendicular steel plates W1 and W2; A trolley 1 which is fixedly supported in y, z and directions so as to be movable in the x direction, and at the same time, mounted on a rail and thus frequently; On the other hand, the spring (k1) for relatively driving the first arm in the x direction (x) at the same time approaching the steel sheet corner; An imitation roller y7 and a torch vibration mechanism 100 supported by the first arm and facing the corner; Welding torch (T); Welding power source Ps; Welding wire feeder (WS); And a controller (C).

Description

Upright Fillet Welding Device

1 is a perspective view showing the appearance of the main part of the mechanism of the embodiment of the present invention;

FIG. 2 is a plan view in which a part of the cross section is broken and the mechanism shown in FIG. 1 is viewed from the direction indicated by the arrow 2A of FIG.

A part of FIG. 3 shows a broken cross section, the right side view which looked at the mechanism shown in FIG. 1 from the direction which arrow 3A of FIG. 1 points.

4 is a cross-sectional view taken along the line 4A-4A of FIG.

FIG. 5 is a perspective view showing the internal structure of the vibration mechanism 100 shown in FIG.

6 is a front view of an operation panel incorporating the controller C shown in FIG.

FIG. 7 is a flowchart showing the electrical circuit configuration of the controller C shown in FIG.

* Explanation of symbols for main parts of the drawings

1: bogie M1: vibration motor

M2: Bogie drive motor 10X: Retraction mechanism in x direction

20Y: y-direction adjusting mechanism 30Z: z-direction adjusting mechanism

ST: upper limit switch SB: limit switch

40: pinion 50: rack

51: rail 60a, 60b: rail stand

100: vibration mechanism AC: AC power

C: Controller D1 to D3: Diode

NFB, F1: Fuse NTW1, NTW2: Speed control board

PB1: Welding Start Switch PB2: Welding Stop Switch

PL: Pilot Lamp PS: Welding Power

PX1: Sensor R1, R2: Fixed Resistance

Rec1: Rectifier SRB, SRT: Switch Striker

SW1: Power Switch SW2: Conversion Switch

SW3: Vibration switch SW4: Manual switch

T: Welding Torch Tr1: Trans

VR1, VR3: Variable resistance VR2: Potentiometer

WS: Welding Wire Feeding Equipment

[TECHNICAL FIELD OF THE INVENTION]

The present invention relates to an orthogonal fillet welding device that welds while orthogonally and substantially perpendicularly orthogonal corner portions of two steel plates while welding the torch in a vertical direction while vibrating in a horizontal direction.

[Prior art]

For example, when assembling a structure used for the bottom of a large ship, a plurality of steel plates or vertical plates erected vertically on a horizontal steel plate are arranged in the shape of a checker board. Follow the welding torch to the corner part (horizontal corner) and the corner part (vertical corner) where the vertical plates hit each other at right angles, i.e., move the welding torch in the horizontal or vertical direction (horizontal fillet welding and upright fillet welding). ). In any of these cases, the manual welding for moving the welding torch while the worker holds the welding torch and visually confirms the welding portion has a large burden on the operator and low work efficiency.

Therefore, in recent years, the fillet welding apparatus which mounts a welding torch and a profiling mechanism in a trolley | bogie, and performs a fillet welding by the trolley | bogie independently of the horizontal fillet welding is proposed. In order to follow the welding torch with respect to the welding line, the imitation roller is mounted on the trolley, and the steering is set in a direction approaching the vertical steel plate so that the imitation roller always abuts the vertical steel plate and the trolley is driven on the horizontal steel plate ( Japanese Unexamined Patent Application Publication No. 5-169265).

[Problems trying to solve the invention]

However, in the upright fillet welding, since the running direction of the trolley is in the vertical direction z, a vertical guide bar or a vertical rail for moving the trolley in the vertical direction is required.

Since the moving direction of the trolley is regulated by this rail, for example, assuming that the above-described imitation mechanism is used, the rail is fixed to one side of the two steel plates perpendicularly or substantially perpendicularly and parallel thereto (at the same time in the vertical direction). The trolley is equipped with a imitation stand that is parallel and simultaneously retracted with respect to the other steel plate, and supports a torch for welding the orthogonal corner of the steel plate and the imitation roller protruding to abut the other steel plate. Will be.

In this case, since the other steel sheet is only along the surface (a position away from the orthogonal corner to some extent in the horizontal direction), the imitation roller is disposed between the imitation position and the orthogonal corner due to bending, bending or inclination of the steel sheet. In the case where there is a position shift (which may be many) in a direction parallel to the one surface (the advancing direction of the imitation roller), the welding target position of the welding torch is shifted from the position shifting portion or the orthogonal corner.

Further, in the upright welding, the molten metal easily flows downward, so that it is difficult to set the width of one welding bead broadly. Therefore, when the required bead width is large, it is inevitable to collect many times, and it is necessary to change or adjust the welding target position every time, so that the welding of the wide bead takes time and the worker's work efficiency is low.

The first object of the present invention is to reduce the labor of the operator in the upright fillet welding and to improve the work efficiency, and to improve the imitation accuracy of the welding torch to the orthogonal corner of the perpendicular two steel plates for the second object. The third object of the present invention is to provide an upright fillet welding device having a relatively simple mechanical structure and high reliability in operation and durability. A fourth object is to provide a relatively easy upright fillet welding apparatus, and a fifth object is to shorten the welding time of a wide width bead and at the same time improve the work efficiency of the operator.

[Means for solving the problem]

(1) The upright fillet welding apparatus according to the first embodiment of the present invention comprises: a rail member 51; Rail fixing means 60a, 60b for fixing the rail member 51 substantially parallel to the substantially vertical line Lw where two steel plates W1 and W2, which are vertically perpendicular and perpendicular to each other, intersect. ); A first arm (y1) extending in a direction (x) that substantially forms an angle of 45 ° with respect to the two steel plates (W1, W2); The first arm y1 is fixedly supported in the horizontal direction y and the vertical direction z perpendicular to the direction x so as to be movable in the elongated direction x, and at the same time, the rail member 51 A trolley (1) mounted and including an electric motor (M2) for driving driving frequently in a direction lengthened along the rail member (51); A spring member (k1) for applying a force for driving the first arm (y1) relative to the trolley (1) in a direction (x) and a direction approaching the two steel plates (W1, W2); A mimic roller (y7) supported by a first arm (y1) and substantially opposed to a corner where the two steel plates (W1, W2) intersect in a direction in which the first arm (y1) is substantially extended; Vibration that supports the fillet welding torch T and is supported by the first arm y1 to vibrate the fillet welding torch T in a direction y orthogonal to the direction z in which the rail member 51 is elongated. Vibration mechanism 100 including an electric motor (M1) for driving; Welding power source PS for supplying welding power to the torch T; A welding wire supply device WS for feeding the welding wire to the torch T; The electric power is supplied to the two electric motors M1 and M2 for driving the trolley 1 and driving the torch T vibration, while supplying welding power to the torch T through the welding power supply PS. It has a controller (C) for doing.

In addition, in order to facilitate understanding, the symbols in the parentheses are shown in the drawings and described with reference to the corresponding elements of the embodiments described later.

According to this, the imitation roller y7 and the additional welding torch T are orthogonal to the two perpendicular steel plates W1 and W2 perpendicular to each other through the first arm y1 in the direction x at an angle of 45 °. Advancement is freely supported by the trolley | bogie 1, and is simultaneously driven by the spring member k1 in the direction which approaches both steel plates W1 and W2. By defining the rail member 51 at a predetermined distance with respect to the two steel plates W1 and W2, the copying roller y7 faces the corner where the two steel plates W1 and W2 intersect, and thus the two steel sheets W1 of the corresponding corners. , W2) moves in accordance with the irregularities or bends in the direction along the bisector of the angle, and the welding torch T is orthogonal to the imitation direction z by the vibration mechanism 100 in the same manner as the imitation movement. As the torch T moves in the Z direction while the torch T vibrates in (y), the welding torch follows the corner precisely, and the wide bead is obtained by one welding. This improves.

Embodiment of the Invention

(2) The upright fillet welding apparatus according to the second embodiment of the present invention supports the copying roller y7 and the vibrating mechanism 100, and is perpendicular to the direction perpendicular to the direction x in which the first arm y1 is elongated ( It has a second arm (y3, y6) coupled to the first arm (y1) rotatably around the axis (y2) extending in z). According to this, the imitation roller y7 can vibrate and move in a direction y orthogonal to the directions x and z. For example, the imitation roller y7 is displaced in the y direction from the corner and is applied to only one steel sheet W1. Assuming a contact state, since the roller y7 is pushed by the spring member k1 in the direction of 45 ° with the steel sheet W1, the surface of the steel sheet W1 is slid further. Attempts to move in the direction approaching the steel plate (W2). Because of this movement, the roller y7 needs to shake in the y direction. The second arms y3 and y6 make this shaking possible. When roller y7 slides the surface of steel plate W1 by this shaking and touches another steel plate W2, this steel plate W2 prevents the movement of the mimic roller y7 in the y direction.

Accordingly, the roller y7 is automatically positioned at the position where the roller y7 abuts on both the steel sheets W1 and W2 at the same time, that is, at the corner of both steel sheets.

That is, in this first embodiment, the imitation roller y7 is to imitate the unevenness or bend in the direction along the bisector of the angle formed by the two steel plates W1 and W2 at the corners of the steel plate W1 and W2. In addition, the corner imitation accuracy is even higher by imitating the unevenness or bend in the y direction. Nevertheless, the structure for this is extremely simple.

(3) In addition to the structure of the second embodiment, the upright fillet welding device according to the third embodiment of the present invention further supports the vibration mechanism 100 in the direction x in which the first arm y1 is elongated. A third arm y4 rotatably coupled to the second arms y3 and y6 about an axis y2 extending in an orthogonal vertical direction z; And means (y11a to y15) for adjusting the rotation angle of the third arm y4 with respect to the second arms y3 and y6.

According to this, the welding target position (at the vibration center point) of the torch T with respect to the welding reference line Lw of the corner of both steel plates W1 and W2 can be adjusted in the y direction. In the case of completing the one-circuit welding, the welding target position may be the welding reference line Lw. In order to widen the length of the bead leg (the width of the bead in the y direction), it is necessary to perform several welding.

For example, in the case of three times, the first welding target position is the welding reference line Lw, and for example, the second welding target position is the position in which the steel sheet W1 is drilled into one side of the steel sheet W1 rather than the welding reference line Lw. It is necessary to set the third welding target position to the position which is indented into the steel sheet W2 other than the welding reference line Lw, but these welding target positions can be set by the adjusting means y11a to y15.

In the same manner as in the above first embodiment, since the corner imitation accuracy of the imitation roller y7 is high, the adjustment of the welding target position by the adjustment means y11a to y15 is performed by the imitation position (welding reference line) of the imitation roller y7. Since the welding target position adjustment for (Lw)), each welding is realized with high imitation accuracy with respect to the corner, and multiple welding with uniform bead width and bead thickness is realized. However, the welding target position here refers to the welding target position when the torch is located at the center point of vibration (center position of the pendulum angle) when the torch T is vibrated.

(4) The vibrating mechanism of the first embodiment of the third embodiment is fixed to the shaft body 110 which is rotationally driven by the electric motor M1 for vibration driving supported by the third arm y4 extending in the vertical direction. A pendulum member which is reciprocally rotated about the vertical axis 107a with respect to the third arm y4 by the eccentric cams Ca1 and Ca2 and the eccentric cams Ca1 and Ca2 which are integrally rotated with the shaft body 110. And a fillet welding torch t is supported by the pendulum member 103.

According to this, by the continuous rotation of the electric motor M1, the fillet welding torch t with the pendulum member 103 repeats reciprocating rotational movement about the vertical axis 107a. That is, the welding target position of the fillet welding torch t vibrates in the y direction.

(5) The pendulum member 103 of the vibrating mechanism of the first embodiment of the third embodiment can be rotatable about the horizontal axis 105a with respect to the third arm y4, and the vibrating mechanism 100 further has a pendulum member ( And a mimic roller 103b and roller guide means 102a for driving the pendulum member 103 in a reciprocating rotational motion about the horizontal axis 105a according to the reciprocating rotational motion about the vertical axis 107a of the 103. .

According to this, the fillet welding torch t, together with the pendulum member 103, is repeatedly reciprocally rotated about the horizontal axis 105a in synchronization with the vibration. That is, the welding target position of the fillet welding torch t vibrates in the z direction. This z-direction vibration is effective in equalizing the heat input distribution to the capillary and the molten metal and preventing the molten metal from falling.

(6) The vibration mechanism 100 according to the first embodiment of the third embodiment includes a swing arm 130 and a swing arm 130 reciprocally driven by the eccentric cams Ca1 and Ca2 about the vertical axis 120. A slider 134 which is supported and coupled to the pendulum member 103 in its rotational movement direction y and relatively slips in the horizontal direction x perpendicular to the rotational movement direction, and the reciprocating rotational direction of the swing arm 130. Amplitude adjusting means (133, 131, 131a) is further provided to determine the position of the slider 135 in the horizontal direction (x) orthogonal to (y). According to this, the radius of rotational motion (distance from the axis 120) of the slider 134 is determined by the x-direction position of the slider 134, and at the same time, the rotational motion of the slider 134 with respect to the pendulum member 103 is driven. The radius (distance from the axis 107a) is determined. That is, although the amplitude (vibration width) of the swing arm 130 is constant, the ratio of the pendulum angle of the pendulum member 130 to the pendulum angle of the swing arm 130 is determined. When the position of the slider 134 in the x direction is changed by the amplitude adjusting means 133, 131, 131a, the ratio of the pendulum angle changes. That is, the amplitude (vibration width) of the pendulum member 103 changes. Therefore, the pendulum adjusting means 133, 131, 131a can set or adjust the amplitude of the pendulum member 103 (the welding bead width caused thereby).

(7) In one example common to the first to third embodiments of the present invention, the rail member 51 is a flat plate; The rail fixing means 60a and 60b are fixed to one steel plate W2 of the two steel plates W1 and W2, and the rail member 51 has its flat surface relative to the two steel plates W1 and W2. It is the rail stands 60a, 60b which hold | maintain in the attitude which becomes substantially 45 degrees,

According to this, the trolley | bogie 1 is mounted on the flat surface of the rail member 51, and the 1st arm y1 is mounted to the trolley | bogie 1 so that it may move to the direction x orthogonal to the rail member 51, The first arm y1 is automatically lengthened in the direction x at an angle of substantially 45 ° with respect to the steel plates W1 and W2. The combination of the rail member 51, the trolley | bogie 1, and the 1st arm y1 is the simplification of the 1st arm y1 and the coupling structure (around the trolley | bogie) of it and the trolley | bogie 1 most. Further, this becomes complicated with the structure of the rail stands 60a and 60b for supporting the rail member 51, that is, the rail member 51 at an angle of 45 ° with respect to the steel plate W1. It is not necessary to reach the entire length of the rail member 51, and furthermore, since it is relatively far from the corner and becomes closer to one steel plate W1, the possibility of causing trouble in the welding operation is low.

The simplification of the structure around the bogie brings about a reduction in the volume of the bogie mechanism (miniaturization), which facilitates installation and removal of the weld bogie. The problem that the running of a vehicle is prevented by an obstacle is also reduced.

(8) In the fourth embodiment of the present invention, the rail stands 60a and 60b use a stick 55b rotatable about an axis 55b substantially perpendicular to the flat surface of the steel plate W2 to which it is fixed. Include. Referring to FIG. 4, as another steel plate W1 is orthogonal to the steel plate W2, the axis 55b is parallel to another steel plate W1. The stick 56b is rotated at an angle at which the free end (tip) of the stick 56b becomes the shortest with respect to the surface of the steel plate W1, until the free end contacts the surface of the steel plate W1. By moving the rail stands 60a and 60b in parallel with the steel plate W2 and by fixing the rail stands 60a and 60b to the steel plate W2, the distance of the rail stands 60a and 60b to the steel plate W1 is set to the length of the stick 56b. It becomes a predetermined length determined.

The length of the stick 56b and the height of the rail stands 60a and 60b (51 distances to W2) are determined so that the extension of the longitudinal axis of the first arm y1 is perpendicular to the weld reference line Lw of the corner. By this, the imitation roller y7 is automatically positioned toward the welding reference line Lw of the corner by positioning of the rail stands 60a and 60b with respect to the steel sheet W1 and sticking to the steel sheet W2. It becomes.

Therefore, in order to imitate the copying roller y7 along the corner, positioning of the rail member 51 is simple.

(9) In one embodiment of the present invention, the rail member 51 includes a rack 50 parallel in the direction in which the longitudinal axis thereof is elongated; The trolley 1 includes a speed reducer driven by the electric motor W2 for driving and a pinion coupled to the output shaft of the speed reducer and engaged with the rack.

(10) In the fifth embodiment of the present invention, the rail member 51 includes a phase switch striker SRT capable of adjusting the position z in the longitudinal direction thereof; The trolley | bogie 1 includes the phase limit switch ST which opens / closes by the touch of the phase switch striker SRT; The controller C energizes the input means PB1, PB2, SW4 for instructing the operator to start / stop welding and bogie drive / stop, and the electric motor M2 for bogie drive in response to the instruction of welding start. Instructs supply of welding power to the torch T to the welding power supply PS in response to an instruction to start welding and the motor positioning circuits X10 and NTW2 for stopping the energization in response to the instruction to stop the balance. A power supply instruction circuit (X4, X5, X6, X1A) for instructing the power supply to stop in response to the switching of the upper limit switch (ST) on and off by contact with the phase switch striker (SRT). Switching the opening / closing of the upper limit switch (ST) by contacting the phase switch striker (SRT) by energizing the electric motor (M2) for bogie driving in the direction of the bogie ascending in response to the instruction of Bogie drive during welding to stop the energization in response In response to the motor energization circuits (X1, X1A, X2, X3, X4, X5, X6, NTW1) and the electric start (M1) for vibration driving in response to the instruction to start welding, the contact with the phase switch striker (SRT) In response to the switching of the open / close switch of the upper limit switch ST, the vibration drive motor for stopping the energization includes the energization circuit NTW1.

According to this, the operation of the operator input means SW4 is instructed to drive / stop the trolley to stop the trolley 1 at the end position of welding to set the upper switch striker SRT at the position at which the upper limit switch ST is closed. Then, the trolley 1 is lowered to the welding start position and stopped.

This determines the welding start position and the welding end position in the z direction. This can be done based on visual confirmation of the welding target position of the real torch T, which is easy and realistic for the operator.

In addition, when the trolley 1 is placed at the welding start position, and the operator sculpts the input means PB1 and instructs welding start, the controller C automatically starts vibration welding and drives the trolley 1 upwards. Welding to the welding stop position (SRT position) automatically stops welding and at the same time stops the rise of the trolley 1 and waits for the operator's instruction. The operator does not always have to follow the welding apparatus, and it is possible to use several welding apparatuses in parallel. This improves the work efficiency of the worker. Further, when the driving of the trolley 1 is carried out while welding, the torch T is vibrated in the y and z directions, so that a wide bead of welding is automatically performed, and the operator's work efficiency is improved.

(11) In the first embodiment of the fifth embodiment of the present invention, the vibration mechanism 100 includes the center sensors 121 and PX1 for detecting that the pendulum member 103 is at the center point of the reciprocating rotational movement. The motor energization circuit NTW1 is used for vibration driving when the center sensors 121 and PX1 stop at the center point after the opening / closing of the upper limit switch ST by the contact with the phase switch striker SRT. The energization of the electric motor M1 is stopped.

According to this, since the bevel shape of the welding end point is not disperse | distributed because the y-direction vibration of the welding torch T stops at the center point of vibration, adjustment of a torch target position and a balance by manual operation of a subsequent operator ( In the welding start positioning and welding end positioning or vibration amplitude adjustment of 1) or at the next welding start, the torch target position is at the center position of the y-direction oscillation width, that is, the torch is a reference posture, so the above setting and adjustment This is easy. At the next welding start, welding starts at the center of the oscillation width in the y direction, so that the bead shape of the welding starting point is not dispersed.

(12) In the sixth embodiment of the present invention, the rail member 51 includes a lower switch striker SRB capable of adjusting the position z in the longitudinal direction thereof; The trolley | bogie 1 includes the limit switch SB which opens / closes by the touch of the lower switch striker SRB; The controller C comprises an input means SW2 for instructing lower welding; The electric supply instruction circuits X4, X5, X6, and X1A instruct the welding power supply PS to supply the welding power to the torch T in response to an instruction to start welding of the lower welding, and the lower switch striker SB. Instructing to stop the power supply in response to the switching of the opening / closing of the limit switch SB by the contact with the; In the welding, the bogie drive motor energization circuits X1, X1A, X2, X3, X4, X5, and X6 have a polarity that rotates in the bogie descending direction to the electric motor M2 for bogie drive in response to the instruction of the lower welding. The energization is stopped in response to the switching of the opening / closing of the limit switch SB due to the electric current being applied to the lower switch striker SB.

According to this, the operator operates the input means SW4 to instruct the bogie drive / stop, stops the bogie 1 to the welding end position, and sets the low-switch striker SRB at the position at which the limit switch SB is closed. Then, the cart 1 is driven up and stopped to the welding start position, whereby the welding start position and welding end position (position of SRB) in the z direction are determined. This can be done based on visual confirmation of the welding target position of the actual torch T, which is easy and realistic for an operator.

In addition, when the trolley 1 is placed at the welding start position and the operator operates the input means SW2 and PB1 to instruct the start of the lower welding, the controller C automatically starts the vibration-free welding, and the trolley 1 is opened. When driving downward and welding to the welding stop position (position of SRB), welding stops automatically and at the same time stops the descent of the trolley | bogie 1, and waits for an operator's instruction. The operator does not always have to follow the welding apparatus, and it is possible to use several welding apparatuses in parallel.

Other objects and features of the present invention will become apparent from the following description of the embodiments with reference to the drawings.

EXAMPLE

1 shows the appearance of one embodiment of the present invention. The vertical steel plate W1 (hereinafter referred to as the left vertical plate W1) is fixed by temporary welding at a right angle to the surface of the vertical steel plate W2 (called the right vertical plate W2), and the right vertical plate W2 The rail 51 in the shape of a plate is fixed at an angle of 45 ° with respect to the surface of the right vertical plate W2 at the same time. The trolley | bogie 1 is attached to this rail 51. As shown to FIG. The front view seen from the direction of arrow 2A of FIG. 1 of the trolley | bogie 1 to FIG. 2, and the right side surface seen from the direction of the arrow 4A of FIG. 1 of the trolley | bogie 1 to FIG. The lower surface seen from the direction of arrow 3A of FIG. 1 of the lower torch support mechanism is shown in FIG.

The angle (corner) at which the left vertical plate W1 and the right vertical plate W2 intersect is a portion to be welded, and the side end line extending in the vertical direction at the corresponding angle of the left vertical plate W1 is a welding reference line ( Lw). Hereinafter, the direction in which the corresponding welding reference line Lw is extended is set as the vertical direction z, and the horizontal direction perpendicular to the corresponding welding reference line is made at 45 ° with respect to both of the right vertical plate W2 and the left vertical plate W1. The direction is the x direction, and the horizontal direction orthogonal to the x and z directions is the y direction.

A. Rail 51 and the structure supporting it.

The rail 51 is fixed to the right vertical plate W2 by rail stands 60a and 60b (FIG. 3) fixed to the upper and lower ends thereof. Referring to FIG. 4, the rail stand 60a is a support arm 52b that is placed on the surface of the aluminum plate 57b, and the magnets 58a, 58b are fixed to the back surface thereof. By adsorb | sucking to the right vertical plate W2, the aluminum plate 57b couples in parallel with the right vertical plate W2. The tip plate to which the rail 51 of the support arm 52b is fixed is inclined at 45 ° with respect to the period of the arm 52b, whereby the rail 51 is 45 to the right vertical plate W2. At an angle of °. The support plate 53b is fixed to the aluminum plate 57b, and the shaft bar 55b is supported perpendicularly to this support plate 53b (parallel to the left vertical plate W1), and the stick (b) is attached to this shaft bar 55b. 56b) is freely mounted in rotational motion. Since the stick 56b is frictionally stopped with respect to the support plate 53b by the disc spring 54b, when the worker applies relatively strong rotational force to the stick 56b, the stick 56b rotates about the shaft 55b. If it doesn't apply rotational force, it doesn't rotate.

The structure of the rail stand 60b is also the same as that of 60a. When the rail 51 is fixed to the right vertical plate W2, the worker horizontally holds each stick 56b of the rail stands 60a and 60b so that the tips of both sticks touch the left vertical plate W1 together. The rail 51 is positioned with respect to the left vertical plate W1. As a result, the rail 51 is parallel to the left vertical plate W1 and at the same time has a predetermined distance thereto. The magnets 58a, 58b, 58c, 58d of the rail stands 60a, 60b are attracted to the right vertical plate W2 so that the rail 51 is parallel to the right vertical plate W2 and at the same time a predetermined distance thereto. It becomes

Further, when the trolley 1 moves upward and the arm y6 described later touches the stick 56b of the rail stand 60a, the stick 56b rotates upward by the arm y6 to move the arm 6y. Get out of the way. When the trolley 1 moves downward and the welding torch T described later touches the stick of the rail stand 60b, the stick rotates downward by the welding torch T from the moving path of the welding torch T. Escape

Moreover, when the rail 51 is long, more than one rail stand of the same structure is stuck between the above-mentioned upper and lower rail stands 60a and 60b. The rack 50 is fixed to the rail 51 in parallel with it. The side end surface of the rail 51 is mountain-shaped (FIG. 4), in order to define the position of the wheel of the trolley | bogie 1 in the y direction. To the phase shift limit of the trolley 1, the switch striker SRT and the switch striker SRB for setting the high motion limit are not shown, and a screw (not shown inside the rail 51 in FIG. Fastened to the rail 51, and the upper and lower positions can be adjusted by loosening the fold screws and holding them up and down, respectively, and then tightening the fold screws again.

Furthermore, the part of the upper limit switch ST of the upper end part of the trolley | bogie 1 touches the switch striker SRT, and at this time, the switch ST switches from open (OFF) to closed (ON), and the hatch | hole of the trolley | bogie 1 is carried out. The reverse drive circuit of the same motor M is opened, and the phase movement of the trolley | bogie 1 is stopped. A part of the limit switch SB in the inside of the trolley 1 touches the upper end of the switch striker SRB, and at this time, the switch SB is changed from open (OFF) to closed (ON), and the hatch of the trolley 1 The electrostatic drive circuit of the same motor M is opened, and the high drive of the trolley | bogie 1 is stopped.

B. Balance (1)

The trolley | bogie 1 is couple | bonded with the rail 51, and moves up (up) or moves down (down) along the rail 51. As shown in FIG. The inside of the trolley | bogie 1 has a lifting drive motor M, and the pinion 40 rotationally driven through the reduction mechanism (not shown) directly connected to the output shaft engages the rack 50 of the rail 51. . The trolley | bogie 1 has a pair of upper mimic rollers in a pair of z direction which are the same as the lower imitation rollers 41a and 41b in a z direction, and which the rail 51 pinches in the width direction (x direction), Each of the rollers 41a of each of these pairs is supported by a rotational freedom path by the support mechanism 42a, and each of the other rollers 41b is supported by a rotational freedom path by the support mechanism 42b.

The support mechanisms 42a and 42b are screwed together with the right and left screws of the threaded rod 1b extending in the x direction by cutting off the right and left screws around the midpoint. A detachable handle 1a is fixed to one end of the screw rod 1b, and when the detachable handle 1a is rotated in the direction of the right screw, the imitation roller 41a and the copying roller 41b which face the rail 51 are opposed to each other. ) Is shortened, the pair of rails 51 of the pair of rollers are fitted upwards and downwards (FIG. 4), and the trolley | bogie 1 is positioned with respect to the rail 51 in the y direction. In other words, the imitation roller mimics the free movement of the rail 51 in the z direction, and the pinion 40 is gear-coupled with the rack 50. By rotating the lifting driving motor M in this state, the pinion 40 is rotated and the cart 1 is driven up or down.

On the contrary, when the detachable knob 1a is rotated in the opposite direction to the direction of the right screw, the length between the imitation roller 41a and the imitation roller 41b which face each other in the x direction becomes long, and the trolley 1 is mounted on the rail 51. Can be removed in the y direction. The upper limit switch ST is in the upper part of the trolley | bogie 1, and the said lower limit switch SB is in the lower part of the trolley | bogie 1.

C. Retraction Mechanism (10X)

See FIGS. 1, 2 and 4. The lower direction of the trolley | bogie 1 is attached with the X direction retraction mechanism 10X. The support plate x5a is fixed to the lower end of the trolley | bogie 1, The guide rail x5b (FIG. 3) extended in the x direction is fixed to this support plate x5a, and it attaches to this guide rail x5b. The slide head x7 is engaged so as to be movable in the longer x direction, and the slide head x7 is engaged with the rail x5b in the y and z directions.

That is, the slide head x7 cannot move relatively in the y and z directions with respect to the rail x5b, and is supported by the guide rails x5 in these directions. The block x6 for supporting the y-direction adjusting mechanism 20Y is fixed to the slide head x7.

2, the tip of the slide bar x2a penetrating the compressed coil spring k1 passes through the block x6, and the male screw of the corresponding end of the slide bar x2a is connected to the block x6. The nut (x2b) for preventing fallout is stuck. The slide rod x2a may rotate with respect to the block x6. The slide bar x2a penetrates through the guide hole of the angle x4 fixed to the support plate x5a, and the sleeve x3 fixed to the said angle x4. A handle x1 is fixed to an end that protrudes outward (right side in FIG. 2) of the sleeve x3 of the slide bar x2a.

When the slide bar x2a is dragged to the right in FIG. 2, the block x6 moves to the right while compressing the compression coil spring k1. When the pulling force and restraint on the slide bar (x2a) are released, the block (x6) is moved to the left by the repulsive force of the compression coil spring (k1), and the slide bar (x2a) is pressed to the block (x6) to the left. Move. In the sleeve (x3) for guiding the left and right movements of the slide bar (x2a), a pair of slits (x3a; two in each of the outside and the inside) that are opened at the tip and split the sleeve into two parts are cut off. The slit x3a enters the pins x2c (one on the outside and one on the inside, two in total) standing on the slide bar x2a. On the distal end face of the sleeve x3, the pin receiving groove x3b is cut at a position forming a + character with respect to the pair of slits x3a. As shown in FIG. 2, in the state where the pin x2c is in the slit x3a (imitation setting state), the repulsive force of the compression coil spring k1 is applied to the block x6, and the block x6 is on the left side. If the block x6 is pressed to the right, the compression coil spring k1 is compressed and the block x6 moves to the right. When the force to push the block x6 to the right weakens, the spring k1 pushes the block x6 to the left.

When the worker drags the handle x1 to the right, moves the pin x2c from the right end of the sleeve x3 to the right, rotates the handle x1 by 90 °, and releases the drag force on the handle x1. , Pin (x2c) is pinched in the pin receiving groove (x3b), the left movement of the slide bar (x2a) is restrained and stopped.

In other words, while the block x6 moves to the right (falls off), the left side of the slide bar x2a stops moving while the compression coil spring k1 is compressed (falls off). In this state, the handle (x1) is slightly driven to the right to withdraw the pin (x2c) from the pin receiving groove (x3b), and the handle (x1) is rotated 90 ° to release the right hand force on the handle (x1). The block x6 is driven to the left by the repulsive force of the coil spring k1, so that the pin x2c enters the slit x3a, and becomes the imitation setting state shown in FIG.

As described above, the rail 51 is left vertical plate w1 so that the ends of the two sticks touch the left vertical plate W1 with the respective sticks 56b of the rail stands 60a and 60b horizontal. Positioning with respect to the right vertical plate (w2), and at the same time, as described above, the rail 51 in each pair of a pair of imitation rollers (41a, 41b) on the upper side of the trolley (1) and the lower one (FIG. 4) When the pinion 40 is gear-engaged with the rack 50, and the imitation setting state is made, when the block x6 reaches the left shift limit position shown in FIG. Until the copying roller y7 touches the left vertical plate w1 and the right vertical plate w2, the left movement of the block x6 is restrained and stopped. In this state, the trolley | bogie 1 moves up or down, and the bend of the left vertical board w1 or the right vertical board w2, and of the cross section which opposes the right vertical board w2 of the left vertical board w1 is carried out. When the z-direction distribution of the position of the x direction where the 2nd arm y3 of the angle which both the vertical plates W1 and W2 cross | intersect by the unevenness | corrugation or the bending has a deviation with respect to the straight line parallel to a z axis, Since the reaction force of the compression coil spring k1 is applied to the imitation roller y7, the imitation roller y7 moves to a x direction at the position of the said shift | offset | difference.

In other words, the imitation roller y7 mimics the x-direction as the position shift in the x-direction of the angle where the two vertical plates W1 and W2 intersect.

D. y-direction adjusting mechanism (20Y)

See FIGS. 1 to 4, in particular FIG. 2. The rear end of the first arm y1 is fixed to the slide head x7 and the block x6 to which the x-direction movement is freely coupled to the rail x5b fixed to the trolley | bogie 1. At the tip of the first arm y1, a shaft bar y2 extending in the z direction is freely supported, and the shaft bar y2 extends downward through the second arm y3.

The third arm y4 is freely coupled to the lower end of the shaft y2. In other words, although the second arm y3 and the third arm y4 may rotate separately with respect to the first arm y1, the second arm y3 and the third arm y4 may be any ones. It is supported by one arm y1.

The tail end of the mimic arm y6 is fixed to the tip of the second arm y3 via the support member y5. The copying arm y6 is long in the x direction, and a copying roller (y7: FIG. 4) having a 45 ° conical surface at the edge of the cross section and the circumferential surface at the distal end of the copying arm y6 is located on the rotation axis y7a. It is supported by the rotational movement freely. As already explained, since the rail 51 is 45 degrees with respect to the right vertical plate W2, the 1st arm y1 is also horizontal, but becomes long in the direction of 45 degrees with respect to the right vertical plate W2. Here, when the second arm y2 is parallel to the first arm y1 (this is the reference direction), the imitation arm y6 also becomes long in the direction of 45 ° with respect to the right vertical plate W2, and the imitation arm y6 When the extension of the central axis extending in the longitudinal direction (x direction) intersects the welding reference line Lw, the above 45 ° conical surface of the imitation roller y7 is in contact with the right vertical plate W2 and the left vertical plate W1 ( 4).

At this time, the left side movement of the imitation roller y7 is prevented by the right vertical plate W2 and the left vertical plate W1, and the block x6 is located to the right of the left limit position shown in FIG. ), The repulsive force of the compression coil spring k1 is applied to the copying roller y7 through the first arm y1, the shaft bar y2, the second arm y3 and the copying arm y6. That is, the repelling force of the compression coil spring k1 is applied to the imitation roller y7 as the pushing force against the left and right vertical plates W1 and W2. Since the second arm y3 can rotate about the shaft bar y2 extending in the z direction with respect to the first arm y1 extending in the x direction, the trolley 1 follows the rails 51, In addition to the above-mentioned X-direction imitation movement of the imitation roller y7 by the said retraction mechanism 10X of the said x direction, while moving to Z direction, in the y direction of the angle which both vertical plates W1 and W2 cross | intersect. In response to the position shift, the second arm y3 rotates relative to the first arm y1. In other words, the copying roller y7 mimics the y-direction in accordance with the positional shift in the y-direction of the angle at which the two vertical plates W1 and W2 intersect. That is, the imitation roller y7 moves (imitation movements in the x direction and the y direction) in accordance with the welding reference line Lw.

Welding target position adjusting mechanism of welding torch (t)

The block y15 is fixed to the rear end of the second arm y3, and there is a pair of holes extending in the y direction in the block y15, and there is a female screw hole therebetween. The guide rods y10a and y10b penetrate the pair of holes, respectively, and the male screw rod y9 is screwed into the female screw hole.

These guide rods y10a and y10b and the male threaded rod y9 are supported by the third arm y4.

That is, both ends of the guide rods y10a and y10b are fixed to the side plates y11a and y11b which are freely mounted in the x direction on the lower plate y12 fixed to the third arm y4. Both ends of) are supported freely for rotation. Long holes (y12a: FIG. 2, a total of two of the outer and inner sides) in the x direction are opened at the positions opposite to the bottoms of the side plates y11a and y11b of the lower plate y12, and the side plates y11a and y11b are opened. Each of the long holes y12a of the pinned female threaded hole enters, and each bolt y13a, y13b is screwed into each pin on the lower surface side of the lower plate y12, whereby the side plates y11a, y11b are lower plated. It is coupled to (y12) in a relationship relatively sliding in the x direction but not relatively moving in the y and z directions.

The adjusting knob y14 (FIG. 1, FIG. 3, FIG. 4) is fixed to the screw rod y9.

When the block y15 is on the longitudinal axis of the third arm y4, the welding target direction of the welding torch T supported by the third arm y4 becomes the welding reference line Lw, but this handle y14 ) Rotates clockwise, the third arm y4 rotates about the second arm y3 about the shaft y2, and the welding target of the welding torch T held by the third arm y4. The direction is shifted from the welding reference line Lw to the right vertical plate W2 side. When it rotates counterclockwise, it reversely shifts to the left vertical board W1 side. That is, it is possible to adjust the welding target position (y direction) of the welding torch T with respect to the welding reference line Lw along the roller y7 by rotating the adjustment knob y14.

E. Vibration Mechanism of Welding Torch (T)

See FIGS. 1, 2 and 3. The base 101 of the vibration mechanism 100 is fixed to the third arm y4. 5 shows the internal structure of the vibrating mechanism 100.

The base 101 is a box of rectangular parallelepiped long in the x direction in which the hollow bottom surface is opened, and the vibration motor M1 is fixed to the left side plate 106 (FIG. 5) of the base 101. As shown in FIG. The rotating shaft of the vibration motor M1 penetrates the left side plate 106 and is inserted into the base 101, and the rotating shaft extends in the x direction, and the spur gear G1 is fixed to the front end thereof. The spur gear G2 is also meshed with the spur gear G1, and the rotary shaft and the spur gear W1 are integral with each other. The end on the opposite side, which is the end on which the spur gear G2 of the worm gear W1 is fixed, is rotatably supported by a support box 101a, which is a hollow rectangular parallelepiped fixed to the inner surface of the upper surface of the base 101. By the way, the upper surface plate of the base 101 supports the upper end of the first rotating shaft 110 extending in the z direction freely.

Moreover, the support plate 101b is fixedly supported in parallel with the upper surface plate inside the base 101, and the longitudinal middle part of the 1st rotating shaft 110 is rotatably supported by the support plate 101b.

That is, the first rotation shaft 110 is elongated in the z direction, and is freely supported by the base 101. The wheel gear G3 is fixed to the position near the upper end of the first rotary shaft 110, and meshes with the wheel gear W1 described above. When the vibration motor M1 rotates, the rotation is transmitted to the first rotation shaft 110 by the worm gear W1 and the wheel gear G3 through the spur gears G1 and G2, and it rotates.

A round plate (cal) is fixed to the first rotation shaft 110 at a right angle to the lower end of the first rotation shaft 110 with the same shaft center as the first rotation shaft 110. On the lower surface of the round plate Cal, a pin is erected at an eccentric position on the central axis, and the cam roller Ca2 is freely supported by the pin. When the first rotating shaft 110 is rotated, the round plate Ca1 is rotated, and the cam roller Ca2 is circled around the center of rotation of the round plate Ca1 (same as the center of rotation of the first rotating shaft 110). And then exercise.

The second rotary shaft 120 that extends in the z direction at a position near the right side plate 102 of the base 101 is rotatably supported by the base 101 like the first rotary shaft 110. Similarly to the first rotary shaft 110, the second rotary shaft 120 is rotatably supported by the support plate 101b.

The left end of the swing arm 130 (hereinafter referred to as the arm 130) is fixed to the lower end of the second rotary shaft 120 by bending the long side of the rectangular flat plate 90 degrees in an inverted U shape in the downward direction.

The arm 130 is supported by the base 101 by the second rotating shaft 120 horizontally on the xy plane and freely rotated about the second rotating shaft 120 with one support.

On the upper surface of the arm 130 is a guide groove 130a of a substantially rectangular shape extending in the x direction. The cam roller Ca2 is inserted in the guide groove 130a.

The width | variety of the short side direction of the guide groove 130a is very slightly larger than the diameter of the cam roller Ca2, and the cam roller Ca2 can slide freely in the guide groove 130a. As described above, when the first rotary shaft 110 rotates, the cam roller Ca2 performs a circular motion around the first rotary shaft 110.

The arm 130 reciprocates about the second rotary shaft 120 in conjunction with the circular motion of the cam roller Ca2. In other words, the tip of the arm 130 (the left end in FIG. 5) pendulum moves in the y direction. That is, it vibrates. This amplitude (amplitude) is constant.

The central detection metal sphere 121 is fixed to the second rotary shaft 120, and pendulum moves in synchronization with the pendulum motion of the arm 130. The amplitude of this pendulum motion is also constant. The central detection metal sphere 121 is bent about 90 ° of the rectangular flat plate in the "L" shape, and the portion extending downward is emitted from the sensor PX1, which is a transmissive optical sensor fixed to the right side 102. It crosses the space between the part and the light-receiving part. An approximately rectangular opening 121a extending in the z direction is opened in the corresponding portion, and when the opening 121a is matched with the detection field of the sensor PX1, the arm 130 and the central detection metal sphere 121 are opened. ) Is at the central position of each pendulum motion, and its longitudinal axis is parallel to the longitudinal axis of the third arm y4 together with the arm 130 and the central sensing metal sphere 121.

Further, the portion extending downward of the central detection metal sphere 121 is wide enough to block light from the light emitting portion of the sensor PX1 to the light receiving portion over the entire amplitude except at the central position of the pendulum motion. That is, only when the pendulum motion is at the center position, the sensor PX1 receives the light emitted from the light emitting part from the light receiving part and outputs the H level signal to the controller C which will be described later.

The controller C recognizes that the arm 130 is at the center position (reference position) of the amplitude of the pendulum motion by the H level output of the sensor PX1. When the arm 130 is outside the center position of the pendulum motion, the output of the sensor PX1 is at the L level, and the controller C recognizes that the arm 130 is out of the center position of the pendulum motion.

The inner edge of the long side protruding downward of the arm 130 is inclined inward as it goes downward. The slider 134 is inserted into the space enclosed by this inner surface, and is the lower opening of the arm 130 narrowed down by the inclination of the inner surface, and the direction along the longitudinal axis of the arm 130 ( In x), movement is supported freely. The male threaded rod 133 is screwed into the female threaded hole of the slider 134. This screw rod 133 is parallel to the arm 130, and the rotational freedom path is supported by the arm 130. As shown in FIG. One end of the screw rod 133 is connected to the rotary rod 131 with the handle 131a through the universal joint 132. The rotating rod 131 is supported by a rotating free path on the right side plate 102. When the worker rotates the handle 131a in the tightening direction of the right screw, the screw rod 133 rotates in the same direction, and the slider 134 moves in the direction approaching the second rotation shaft 120. When the knob 131a is rotated in the direction in which the right hand screw is released, the slider 134 moves in a direction falling from the second rotation shaft 120.

On the support arm 107 integral with the base 101, a rotating shaft 107a extending in the z direction is supported by a rotational freedom path. The rotating arm 105 is fixed to the end which protrudes from the lower surface of the support arm 107 of the rotating shaft 107a. The rotary arm 105 is inverted U-shaped, whereby the pin 105a is supported by the rotational free passage. The pin 105a is erected on the support member 104, and the pendulum plate 103 is fixed to the support member 104. The roller support block 103a is fixed to the end (right end in FIG. 5) of the pendulum plate 103, and a roller shaft for freely supporting the imitation roller 103b is fixed to the block 103a. . The right side plate 102 of the base 101 has a roller guide groove 102a in which the central portion of the shape of rotating the L-shape 90 degrees is the lowest in the z direction and both ends thereof rise upward in the z direction. The roller 103b is pinched by 102a.

The cam roller Ca3 larger than the cam roller Ca2 is rotatably supported by the slider 134 above. The pendulum plate 103 has a roller guide groove 103c which receives this cam roller Ca3. The roller guide groove 103c is elongated in parallel in the longitudinal direction of the pendulum plate 103 so as to enable movement in the same direction of the cam roller Ca3 by the movement in the x direction of the slider 134.

When the vibration motor M1 rotates, and the arm 130 performs pendulum movement about the second rotation shaft 120, the cam roller Ca3 supported by the slider 134 is centered on the second rotation shaft 120. Do a pendulum exercise. As a result, the pendulum plate 103 reciprocates about the rotation shaft 107a. That is, the end of the pendulum plate 103 (the right end in FIG. 5) performs the pendulum movement in the y direction. The amplitude of the end of the cam roller Ca3 and the pendulum plate 103 is proportional to the distance between the second rotation shaft 120 / slider 134.

By the pendulum movement in the y direction of the end of the pendulum plate 103, the cam roller 103b moves in the z direction according to the bent shape of the roller guide groove 102a, whereby the end of the pendulum plate 103 is also in the z direction. Do a pendulum exercise. That is, the end portion (right end in Fig. 5) of the pendulum plate 103 has a pendulum motion of drawing a U-shape. Since the welding torch T described later is supported by the pendulum plate 10, the welding standard position of the torch T performs a pendulum motion of drawing an inverted U. The controller PX1 receives the light emitted from the light emitting part at the lower peak position in the z direction of the pendulum movement (upper peak position at the welding target position of the torch T) at the light receiving unit to describe the H level signal (described later). Output to C).

F. Z direction adjustment mechanism (30Z)

See FIGS. 1 and 2. The support member z1 is erected vertically on the pendulum plate 103. The supporting member z1 has a center hole and an arc-shaped long hole centered thereon, and the torch fitting member z3 has two screws which receive bolts passing through the center hole and the arc-shaped long hole, respectively. There are holes and two bolts (not shown) are screwed into the torch fitting member z3 and each screw hole through the center hole and the long hole, respectively, inside the support member z1, so that the torch fitting member ( z3) is fixed to the supporting member z1. When the two bolts are loosened, the torch fitting member z3 can be rotated within a predetermined small angle about the bolt (longer in the y direction) screwed into the center hole.

By screwing both bolts to a preferred angle, the device angle of the torch fitting member z3 relative to the support member z1 is determined.

A fitting member z4 is hinged to the torch fitting member z3, and circular grooves for receiving the head of the welding torch T are engraved on these inner surfaces. Open the fitting member z4 with respect to the torch fitting member z3, insert the head of the welding torch T into the round groove of the torch fitting member z3, and close the fitting member z4 to the screw. By fixing the free opening / closing end of the fitting member z4 to the torch fitting member z3, the welding torch T is connected to the torch fitting member z3 and the fitting member z4 as shown in FIG. Is supported by. However, as described above, the device angle of the torch fitting member z3 with respect to the support member z1 can be adjusted.

That is, the angle of the torch T with respect to the 3rd arm y4 can be adjusted. When torch T is set parallel to arm y4, torch T is horizontal. The torch T can be adjusted upward and downward by the adjustment.

When the vibration motor M1 is energized and the end of the pendulum plate 103 (the right end in FIG. 5) performs a pendulum movement drawing a U-shape as described above, the z-direction adjusting mechanism ( The tip of the welding torch T fixed through 30Z) has a pendulum motion to draw a U-shape. When the tip of the welding torch T is at the upper peak position of the pendulum motion, the above-described sensor PX1 receives the light emitted from the light emitting part from the light receiving part and outputs the H level signal to the controller C which will be described later.

G. Controller (C)

FIG. 6 shows the surface of the operation panel in which the controller C is incorporated, and FIG. 7 shows the configuration of the controller C. As shown in FIG. The controller C instructs the welding power supply PS (FIG. 7) to weld or stop and instructs the elevating drive motor M2 to forward or reverse rotation to drive the bogie 1 up or down. . In the case of welding for driving the trolley 1 up, the tip of the welding torch T is vibrated by instructing the vibration motor M1 to rotate in the forward direction. The mode in which the controller C controls the driving / stop of the trolley | bogie 1 and the torch T is "a. Balance Hagu-dong, "b. Balance Sanggu-dong "and" c. Welding ”. However, the automatic inching of the wire inching and the welding torch T, which sends the welding wire to the tip of the torch T by manual operation of the switch, refer to “c. Welding ”.

The operation of the operator for the corner welding will first be described, and then the control operation of the controller C in each of these modes will be described.

(1) Installation of the rail 51

The operator raises the rail 51 vertically, and each stick 56b of the rail stands 60a and 60b is leveled so that the ends of both sticks touch the left vertical plate W1 together. The left vertical plate W1 is positioned, and the magnets 58a, 58b, 58c, 59d are attracted to the right vertical plate W2. As a result, the rail 51 is provided in parallel with the welding reference line Lw.

(2) Mounting of the bogie 1

The operator positions the trolley 1 with respect to the rail 51 so that the rail 51 may be located between the upper and lower pairs of the imitation rollers 41a and 41b of the trolley 1 facing each other in the x direction. Then, the removal knob 1a is rotated clockwise to insert the rail 51 in the x direction by the imitation rollers 41a and 41b. As a result, the pinion 40 is gear-engaged with the rack 50 and the trolley 1 is mounted on the rail 51.

(3) Mimic setting

The worker pulls the handle x1 in the extraction direction to pull the pin x2c out of the pin receiving groove x3b and rotate the handle x1 by 90 ° to loosen the pulling force on the handle x1. Thereby, the block x6 is driven to the left by the repulsive force of the compression coil spring k1, the pin x2c enters the slit x3a, and the imitation roller x7 touches the right vertical plate W2 and W1. .

If necessary, the z-direction target positions (upward, horizontal and downward angles) of the torch T are adjusted by the z-direction adjusting mechanism 30Z described above.

(4) Setting the limit position

The operator operates the changeover switch SW2 (FIG. 5) from the neutral position to the "falling" side to drive the cart 1 downward, so that the welding target position of the torch T is the welding start position (in the case of a bogie lift) or Return the conversion switch (SW2) to the neutral position at the end of the welding position (for lower bogie = lower limit position), stop the trolley (1), and press the corresponding part of the limit switch (SB). Position the switch striker SRB in the S) position from open to closed.

At this time, the controller C indicates "a. Bogie Hagu-dong. "

(5) Setting of upper limit position

The operator operates the changeover switch SW2 (FIG. 6) from the neutral position (stop instruction position: the handle is perpendicular to the operation panel surface) to the "rising" side, and drives the trolley 1 upward to weld the target of the torch T. At the position where the end position is the welding end position (for bogie lift welding = upper limit position) or the welding start position (for bogie lower welding), return the switch (SW2) to the neutral position and stop the bogie (1). The switch striker SRT is positioned at the position where the limit switch ST is pressed (the switch ST is opened to closed).

(6) Setting of welding target position (y direction) of torch T

Should the operator perform vibration welding (bogie lift welding)? Alternatively, the first welding target position (y-direction position relative to the welding reference line Lw) is set in response to the predetermined number of times (how many times the welding is completed) whether to perform vibration-free welding (bogie lower welding). The above y direction adjusting mechanism 20Y is set. For example, when the first or third circuit welding is completed, the welding target position is the welding reference line Lw.

(7) welding

The operator selects "upper" (vibration welding) or "lower" (vibration-free welding) by the changeover switch SW2, and the welding start switch indicated by "operation" on the operation panel surface. Press (PB1) (ON). Moreover, both the start switch PB1 and the welding stop switch PB2 marked "stop" are momentary switches (switches that return to open when the pressure is lost by closing only while pressed), but the switch PB1 is The normally open switch that is closed when pressed and the switch PB2 are normally closed switches that are opened when pressed.

In response to the closing of the switch PB1, the controller C executes "C. welding" described later, and the welding power supply is applied to the welding power supply PS (welding) unless the welding stop switch PB2 is opened. In this case, if "upward" is selected by the conversion switch SW2, the cart 1 is driven up, and when "downward" is selected by the conversion switch SW2, the cart 1 is driven down.

Then, when the upper limit switch ST or the limit switch SB is closed, the trolley | bogie 1 is stopped here and welding is stopped simultaneously. That is, welding is performed once while raising or lowering the trolley | bogie 1, and when this is complete | finished, it stops at that position and waits for instruction by an operator.

When the second welding is required, the operator sets the second welding target position to the Y direction adjusting mechanism 20Y as in the above (6). Then, "upward" or "downward" is selected by the conversion switch SW2, and the start switch PB1 is closed. In response, the controller C executes "c. Welding". The same operation for the third or less welding is also performed.

(8) Demolition of the Rails 51

The operator pulls the handle x1, moves the pin x2c further outward from the right end face of the sleeve x3, rotates the handle x1 by 90 °, and releases the manpower on the handle x1. (x2c) is pinched in the pin receiving groove (x3b), and the left movement of the slide bar (x2a) is interrupted and stopped.

In other words, while the block x6 is moved to the right, the left side of the slide bar x2a is stopped while the compression coil spring k1 is compressed (the setting state of falling out). Next, the detachable knob 1a is rotated counterclockwise to widen the imitation rollers 41a and 41b from the rail 51, and the trolley 1 is detached from the rail 51. As shown in FIG. Then, the rail 51 is removed from the right vertical plate W2.

-"A. Balance Hagu-dong "

When the power switch SW1 is turned ON, the pilot lamp PL of the controller C lights up, and AC 100V is supplied from the power supply AC to the entire circuit of the controller C. The fuse F1 is inserted between the power supply AC and the input terminal of the circuit of the latter stage, and protects the circuit of the latter stage when an abnormality occurs in the circuit and an overcurrent flows.

When the operator operates the manual switch SW4 from the neutral position to the "falling" side, the relay coil X10 is energized in the controller C (FIG. 7), and the normally open contact X10a of the relay coil X10 is closed. It is closed and the normally closed contact X10b is opened. Furthermore, of the four contacts in which there are four switches SW4a moving in conjunction with the switch SW4, a contact portion in which the contact a3 is in contact with the normally closed contact portion X1d and the contact a4 is normally closed. It is in contact with the (X1e) side.

At this time, if the up and down drive instruction of the trolley 1 is not given in the automatic welding by the changeover switch SW2 (the changeover switch SW2 is in a neutral position), normally open contact portions x2b to x2e and x3b to x3e are The output terminal (②) → contact part (X1d) → contact point (a3) → contact point (a2) → timer contact point (T1) → bogie drive motor (M2) → contact point (X4b) of the speed control substrate NTW2. A direct current circuit is formed by the step (1) of the contact portion X5b-> contact a1-> contact a4-> contact portion X1e-> NTW2.

However, the potential of the output terminal ② of the speed control substrate NTW2 is higher, and a current flows in the bogie drive motor M2 in the direction indicated by the two-point arrow id shown in FIG. 7 (forward energization). .

At this time, normally open contacts (X2e, X3e) are opened, and normally closed contacts (X1Ad) of relay coil (X1A) are closed, and normally open contacts (X10a) of relay coil (X10) are closed and normally closed. Indication voltage which stepped down the power supply AC outputted from the output terminal 5 of the output channel CN1 through the step-down transformer Tr1 by the motor energizing circuit of the speed control substrate NTW2 being opened from the contact X10b. The current of the level corresponding to the set voltage after the resistance of the potentiometer VR2 is energized to the balance drive motor M2 in the forward direction, the motor M2 rotates in the forward direction, and the pinion engaged with the rack 50 rotates in the forward direction. The cart 1 descends. As a result, the lowering speed of the trolley 1 is designated by the potentiometer VR2. However, each output terminal 1 to 6 of the output channel CN1 is connected to the terminals ① to 6 of the speed control substrate NTW2 via a circuit on the board.

Here, for example, even if the bogie 1 is at the upper limit position and the relay coil X4 is energized by the closing of the upper limit switch ST to open the normally closed relay cutout part X4b, the diode D3 is held. The direct heat circuit of the bogie downhole drive by manual is established, and the bogie drive motor M2 is energized in the forward direction so that the bogie 1 descends.

When the manual switch SW4 returns to the neutral position, the switch SW4a opens each of the four contacts therein (not in contact with any wires), and the series circuit of the bogie downdrive by manual opens and the motor M2 ), The trolley 1 stops. In addition, since the AC voltage to the series circuit with the relay coil X10 is cut off, the contact portion X10a of the relay X10 is opened, and the contact portion X10b is closed, so that the output channel of the speed control substrate NTW2 The terminal 5 of the CN1 is connected to the terminal ③ connected to the earth via the terminal 3 like the terminal 4, and the indication voltage of the potentiometer VR2 output from the output terminal 5 is invalid. It becomes Also, even when the manual switch SW4 does not return to the neutral position, when the limit switch SB is closed (bogie 1 reaches the limit position), the relay coil X5 is energized and always closed. The relay contact part X5b is opened, the series circuit of the cart lower drive by manual is opened, and the trolley | bogie 1 stops because electricity supply to the motor M2 is stopped.

-"B. Balance Sanggu-dong

When operating the power switch SW4 from the neutral position to the " rising " side, the relay coil X10 is energized in the controller C (FIG. 7) to close the normally open contact X10a of the relay coil X10, The normally closed contact X10b is opened. Furthermore, of the four contacts in which the switch SW4a moving in conjunction with the switch SW4 is located therein, the contact a1 is in contact with the normally closed contact portion X1d and the contact a2 is normally closed. Make contact with (X1e) side.

At this time, if the up and down drive instruction of the trolley 1 is not given in the automatic welding by the changeover switch SW2 (the changeover switch SW2 is in a neutral position), normally open contact portions x2b to x2e and x3b to x3e are The output terminal (②) → contact portion (X1d) → contact point (a1) → contact point (X5b) → contact point (X4b) → bogie drive motor (M2) → timer contact point (T1) of the speed control substrate NTW2. A direct current circuit is formed by the step (1) of contact a2 → contact portion X1e → NTW2.

However, the potential of the output terminal ② of the speed control substrate NTW2 is higher than ①, and current flows in the direction of the bogie drive motor M2 in the direction indicated by the two-point arrow iu shown in FIG. ). At this time, the normally open contacts X2e and X3e are opened, and the normally closed contacts X1Ad of the relay coil X1A are closed, and the contacts X10a, in which the relay coil X10 is normally opened, are normally closed. Indicated voltage which stepped down the power supply AC outputted from the output terminal 5 of the output channel CN1 through the step-down transformer Tr1 by the motor energizing circuit of the speed control substrate NTW2 due to the opening of the contact X10b. The current of the level corresponding to the voltage set by the resistance of the potentiometer VR2 is reversely energized to the balance driving motor M2, the motor M2 reverses, and the pinion which is engaged with the rack 50 reversely rotates. (1) rises. That is, the rising speed of the trolley | bogie 1 in the case of not welding is specified by potentiometer VR2. However, each output terminal 1 to 6 of the output channel CN1 continues through the terminals ① to 6 of the speed control substrate NTW2 and the circuit on the substrate.

Here, for example, even if the bogie 1 is at the lower limit position and the relay cutout X5 is energized by the closing of the limit switch SB to energize the diode D2, the diode D2 is opened. Through this, the series circuit of the manual driving of the cart is established, and the cart driving motor M2 is energized in the reverse direction, so that the cart 1 rises. When the manual switch SW4 returns to the neutral position, the switch SW4a opens each of the four contacts therein (not in contact with any wires), and the series circuit of manual phase drive by manual opens, and the motor M2 ), The trolley 1 stops.

In addition, since the AC voltage to the series circuit with the relay coil X10 is cut off, the contact portion X10a of the relay X10 is opened, and the contact portion X10b is closed, so that the output channel of the speed control substrate NTW2 The terminal 5 of CN1 is connected to the terminal ③ connected to the earth via the terminal 3 like the terminal 4, and the indication voltage of the potentiometer VR2 output from the output terminal 5 is invalid. It becomes

In addition, even when the manual switch SW4 does not return to the neutral position, when the upper limit switch ST is closed (the bogie 1 reaches the upper limit position), the relay coil X4 is energized and normally closed. The relay contact portion X4b is opened, the series circuit of the cart phase drive by manual is opened, and the trolley 1 stops because energization to the motor M2 is stopped.

Further, the lowering / rising driving of the trolley 1 by the manual switch SW4 described above is performed by the controller C, which is described later in "c. It is valid only when it is not in the "weld" control mode or when no wire inching is performed. That is, before the start of welding or when the stop button PB2 is pressed (opened), the relay coils X1 and X1A are normally closed and the contact X1f normally closed, and the inching button PB3 is not pressed and the PB3 is pressed. Normally closed contact (PB3a), which is opened in conjunction with, is closed, and all relay contacts are in the initial (before welding) state. This is the case when it is in the standby state for welding.

The relay coils X1 and X1A are energized and the normally closed contacts X1f are opened during the execution of the control mode of "c.Welding", even if the manual switch SW4 is closed on the "falling" or "rising" side. There is no energization of the relay coil X10 or the switch SW4a by the manual switch SW4, and the above "a. Bogie Estuary ”or“ b. Bogie up-drive "does not appear. However, since the control mode of "c, welding" is being executed, the trolley 1 is lowered during welding or the trolley 1 is raised while vibrating the torch T while welding. To operate the manual switch SW4, it is necessary to press (open) the welding stop switch PB2 to stop the operation of the " c. Welding ".

C.Welding

Before starting welding, an operator may perform wire inching as needed to supply the wire tip to the tip of the torch T when the wire reel is replaced or the like.

In this case, when the operator presses the inching button PB3, the relay coil X9 is energized, so the normally open contact X9a of the relay coil X9 of the controller C is closed, and the inching of the welding wire feeder WS is closed. The trigger is closed. The welding wire transfer device WS supplies the welding wire to the welding torch T while the inching trigger is closed. When the operator releases the inching button PB3, the inching button PB3 is opened and the energization to the relay coil X9 is interrupted, and the normally open contact point X9a of the relay coil X9 is returned to the open position, and the welding is performed. The inching trigger of the wire feeding device WS is opened, and the welding wire feeding device WS stops feeding the welding wire to the welding torch T. When the worker performs the wire inching before welding, the operator can press the inching button PB3 as needed to feed the wire tip to the tip of the torch T.

Further, the feeding of the wire by the relay coil X9 performed here is performed by a circuit different from the feeding circuit of the wire during the welding downdrive or the welding updrive, which will be described later, and during the welding downdrive or the welding updrive. In this case, the normally closed contact portion X1Ab is opened (to be described later), so that energization to the relay coil X9 is interrupted and there is no relationship.

Further, even when the vibration switch SW3 described later is closed to the "ON" side, the normally closed contact Sw3a, which is opened in conjunction with the "ON" of the switch SW3, is opened and energization to the relay coil X9 is performed. It is cut off and becomes irrelevant with welding downdrive or welding updrive.

When the operator closes the welding start switch PB1, the relay coils X1 and X1A are energized to close the normally open relay contact portions X1a to X1c, X1Aa and X1Ac, and the normally closed relay contact portions X1d to X1f. , X1Ab, X1Ad) is opened. Opening of normally closed relay contact portions X1d to X1f makes the bogie drive by the manual switch SW4 above non-responsive.

Normally, the relay coils X1 and X1A are self-maintained by energizing the relay coils X1 and X1A by the closing of the normally open relay contact portion X1Aa. In this case, the normally open relay contact portion X1a of the relay coil X1 is vibrated by the torch T in the case of (c-2. Weld phase drive) described later, regardless of whether the vibration switch SW3 is pressed. To be described later) and will be described in the following item (c-2.

-(c-1.Welding Estuary)-

When the operator closes the welding start switch PB1, the conversion switch SW2 is closed to the lower side than the neutral position, and the relay coils X1 and X1A are self-holding by closing the normally open relay contact portion X1Aa. At the same time, the relay coil X3 is energized to close the relay contact portion (normally open; X3a to X3e). The closing of the relay contact parts X3a to X3e means that the output terminals ② of the speed control board NTW2 → contact part X1b → contact part X3b because the normally open contact parts X1b and X1c are already closed. ) → Timer contact (T1) → Bogie drive motor (M2) → Contact part (X3d) → Contact part (X5b) → Contact part (X3c) → Contact part (X1c) → Welding downdrive consisting of the terminal (①) of NTW2 A DC circuit is formed, and a current flows in the balance drive motor M2 in the direction indicated by the two-point arrow id shown in FIG. 7 (forward energization). Said "a. Descent drive of the trolley | bogie (1), such as a bogie-hagu-dong. " The contact part X3d is normally connected in parallel with the open contact X4d, and the series circuit of the welding down-drive is normally performed by the opening and closing of the contact part X4d, that is, the relay coil by turning on / off the upper limit switch ST ( It is irrelevant to the energized state of X4).

Further, the closing of the relay contact portion X1Ac closes the welding start trigger circuit of the welding power supply PS, whereby welding by the welding torch T is started. Further, the wire feeding device WS for feeding the welding wire to the welding torch T sends the welding wire to the welding torch T in response to the wire feeding control signal S1 from the welding power source PS.

Further, the relay coil X10 is energized by the closing of the normally open contact portion X1g, the normally open contact X10a of the relay coil X10 is closed, and the normally closed contact X10b and the normally closed contact X10g. Due to the opening of the closed contact portion X1Ad, the motor energizing circuit of the speed control substrate NTW2 becomes “a. Similarly to the bogie lower drive, a current of a level corresponding to the command voltage output from the output terminal 5 of the output channel CN1 and the voltage set by the resistance of the potentiometer VR2 is supplied to the bogie drive motor M2. Forward energized. Thereby, the motor M2 rotates forward, the pinion which meshed with the rack 50 rotates forward, and the trolley | bogie 1 falls. That is, the descending speed of the trolley 1 is designated by the potentiometer VR2 in spite of the manual driving down / welding down driving.

This is a state during welding downhill driving, and the welding torch T pulls out a welding wire while the trolley | bogie 1 descend | falls, and welding is performed.

In this state, when the welding stop switch PB2 is pressed (opened), the energization of the relay coils X1 and X1A is stopped, and the relay contact portions X1b, X1c, X1Aa and X1Ac return to the open position, so that the welding power supply PS At the same time, the welding start trigger is opened, and the direct current circuit of the welding lower drive is opened, whereby welding stops and the lowering of the trolley 1 stops at the same time. In addition, self hold of the energized state of the relay coils X1 and X1A is released. Normally closed contact portions X1d, X1e, X1Ab, and X1Ad also return to their initial state (closed). If welding downdrive is to be resumed, press the welding start switch (PB1) again. Welding downdrive resumes, and if you want to perform welding updrive, change the switch SW2 to the "upward" side, and restart the welding start switch ( By pressing PB1), the trolley | bogie 1 performs the below-mentioned operation | movement in (c-2, welding upward drive).

Further, the manual switch SW4 is also effective, and in response to the operation of the manual switch SW4, the above-described "a. Bogie down drive" or "b. Bogie up drive" is performed.

By the way, if the limit switch SB is switched from open to closed without the welding switch PB2 being opened (the bogie 1 reaches the limit position), the relay coil may be closed by closing the limit switch SB. X5) is energized and normally open relay contact portion X5a is closed, and at the same time, normally closed relay contact portion X5b is opened. When the normally open relay contact portion X5a is closed, the relay coil X6 is energized and the relay cutout portion X3a is responsive to energization of the relay coil X3 because the conversion switch SW2 is closed to the lower side. ) Is already closed). Normally closed relay contact portions X6a and X6b are opened.

Since the relay contact portion X6b is opened, the energization of the relay coils X1 and X1A is interrupted, and the relay contact portions X1d to which normally open relay contact portions X1a to X1c, X1g, X1Ag and X1Ac are normally closed by heat. X1f, X1Ab, and X1Ad) return to closing.

Opening of the relay contact portions X1b to X1c and X5b is performed by the above-described DC circuit (output terminal (②) of the speed control substrate NTW2) → contact portion (X1b) → contact portion (X3b) → timer contact (T1). → The cart drive motor (M2) → the contact part (X2d) → the contact part (X5b) → the contact part (X3c) → the contact part (X1c) → the terminal (①) of NTW2) The descent of 1) stops.

In addition, the welding power supply PS stops supplying the welding power to the torch T by opening of the normally open relay contact portion X1Ac. The magnetic holding of the energized state of the relay coils X1 and X1A is released, and the normally closed contact portions X1d, X1e, X1Ab, and X1Ad also return to their initial state (closed).

This concludes one step of welding lower mouth drive. When the welding phase drive is to be performed, the trolley | bogie 1 performs the below-mentioned operation | movement in (c-2. Welding phase drive), changing the switch SW2 to the "upward" side, and pressing the welding start switch PB1 again. Is done. Further, regarding the operation of the manual switch SW2, the above-mentioned "b. "Bogie up-drive" only.

-(c-2.Welding phase drive)-

In order to perform welding phase driving (vibration welding), the operator switches the conversion switch SW2 to the "upward" side and presses the welding start switch PB1. When the operator closes the welding start switch PB1, the relay coil X1 , X1A is energized so that normally open relay contact portions X1a to X1c, X1g, X1Aa and X1Ac are closed, and normally closed relay contact portions X1d to X1f, X1Ab and X1Ad are opened. Normally closed opening of the relay contact portions X1d to X15 makes the bogie drive by the manual switch SW4 above non-responsive. Even when the relay coils X1 and X1A return to the self-holding (switch PB1) by the closing of the normally open relay contact portion X1Aa, the energization to the relay coils X1 and X1A continues. When the changeover switch SW2 is closed from the neutral position to the "upward" side, the normally open switch SW2a, which is closed in conjunction with the changeover of the changeover switch SW2 to the "upward" side, is closed and at the same time the relay coil X3 The power supply to the power supply is interrupted, the normally open relay cutout part X3a of the relay coil X3 returns to the open state, and the power supply of the relay coil x6 is interrupted. In this state, when the operator closes the welding start switch PB1, the normally closed relay contact portion X6a of the relay coil X6 returns to the closed state, and the normally open relay contact portion X1a of the relay coil X1 is closed. ), The relay coil X7 is energized. As a result, normally open relay contact portion X7a is closed, and normally closed relay contact portion X7b is opened.

AC current is supplied to the relay coil X8 through the normally closed relay contact portion Ry1a by closing the normally open relay contact portion X7a, and thus the normally open cutout portions X8a to X8c of the relay coil X8. ) Is closed, and normally closed cutouts X8d to X8e are opened.

The relay coil X8 is normally kept energized by closing the open cutout part X8ac and the cutout part X8a is a self-holding contact of the relay coil X8.

When the normally open cutouts X8b and X8c are closed and the normally closed cutouts X8d and X8c are opened, the internal circuits of the controller C are connected through the terminals ② and ⑤ of the speed control board NTW1. The current of the level corresponding to the voltage set by the built-in variable resistor VR1, the fixed resistor R1, and the fixed resistor R2 is energized to the vibration motor M1 in the forward direction, and the vibration motor M1 rotates forward. The torch T makes the vibration motion described above. That is, the vibration speed of the torch T is designated by the variable resistor VR1. The fixed resistor R1 and the fixed resistor R2 are adjustment resistors for preventing the variable width caused by the variable resistor VR1 from becoming excessive. A fuse NFB is inserted between the as end of the transformer Tr1 and the terminal ② of the NTW1, and protects the circuit of the speed control board NTW1 when an abnormality occurs in the circuit and an overcurrent flows. The above-mentioned vibration of the torch T is caused when the welding start switch PB1 or the vibration switch SW3 is pressed when the changeover switch SW2 is closed from the neutral position to the "upward" side (switch SW2a is closed). Is done.

Further, when the vibration switch Sw3 is pressed while the conversion switch SW2 is closed to the "upper advance" side, the trolley 1 performs only the torch vibration driving without welding and driving of the trolley 1.

When the operator closes the welding start switch PB1 and the switching switch SW2 is closed from the neutral position to the "upward" side, the relay coils X1 and X1A are self-holding by closing the normally open relay contact portion X1Aa. At the same time, the relay coil X2 is energized, and the relay contact portion (normally open; X2a to X2e) is closed. The closing of the relay contact parts X2b to X2d means that normally open contact parts X1b and X1c are already closed, and the output terminal ② of the speed control substrate NTW2 → contact part X1b → contact part X2b → DC circuit of welding phase drive consisting of contact part (X2d) → contact part (X4b) → bogie drive motor (M2) → timer contact (T1) → contact part (X2c) → contact part (X1c) → terminal (①) of NTW2 And a current flows in the balance drive motor M2 in the direction shown by the two-point arrow iu shown in FIG. 7 (reverse energization). This results in an upward drive of the bogie (1).

The contact part X2d is connected in parallel with the normally open contact part X5d, and the series circuit of the welding up-drive is normally opened and closed by the open contact part X5b, that is, by the ON / OFF of the lower limit switch SB. It is irrelevant to the energized state of the relay coil X5. Further, the closing of the relay contact portion X1Ac closes the welding start trigger circuit of the welding power supply PS, whereby welding by the welding torch T is started. Further, the wire feeding device WS for feeding the welding wire to the welding torch T sends the welding wire to the welding torch T in response to the wire feeding control signal S1 from the welding power source PS. Further, the relay coil X10 is energized by the closing of the normally open contact portion X1g, the normally open contact X10a of the relay coil X10 is closed, and the normally closed contact X10b and the normally closed contact X10g. The closed contact portion X1Ad is opened.

In addition, since the normally open contact X2a is already ON (closed) by the through of the relay coil X2, the motor conduction circuit of the speed control board NTW2 outputs from the output terminal 5 of the output channel CN1. In addition to the indicated voltage and the resistance of the potentiometer VR2, the current of a level corresponding to the voltage set by the resistance of the variable resistor VR3 incorporated in the internal circuit of the controller C is forwardly directed to the balance driving motor M2. Energize. As a result, the motor M2 rotates forward and the pinion meshed with the rack 50 reversely rotates, thereby raising the bogie 1. That is, the rising speed during the welding phase drive of the trolley | bogie 1 falls by the amount which added the resistance value of the variable resistor VR3 to the resistance value of the potentiometer VR2 unlike the manual phase drive. This is the state of welding upper driving, welding is carried out while pulling out the welding wire while oscillating driving the welding torch T as the trolley | bogie 1 rises at low speed.

In this state, when the welding stationary switch PB2 is pressed (opened), the energization of the relay coils X1 and X1A is stopped and the relay contact portions X1b, X1c, X1Aa and X1Ac return to the open position, so that the welding power supply PS At the same time, the start trigger of the welding is opened, and the direct current circuit of the welding phase drive is opened, where the welding is stopped and the rise of the trolley 1 is stopped at the same time. In addition, self hold of the energized state of the relay coils X1 and X1A is released. Normally closed contact portions X1d, X1e, X1Ab, and X1Ad also return to their initial state (closed). Further, the energization of the relay coil X1 is stopped and the normally open contact portion X1a is opened. Therefore, the energization of the relay coil X7 is stopped so that the normally open contact portion X7a is opened and the normally closed contact portion. (X7b) is also closed.

Here, the relay coil X8 is kept energized by its magnetic holding contact X8a, and normally open contact portions X8a to X8c are closed or normally closed contact portions X8d and X8e are opened. It is maintained. That is, the energization of the vibration motor M1 is maintained so that the torch T continues the vibration movement.

On the other hand, however, the timer T1 is pressed by the closing of the normally open contact portion X8a and the normally open contact portion X7b to start the time calculation. The timer T1 ends the time calculation of the set time T1 (times over) and the timer T1 closes the timer contact portion T1a. In this state, when the sensor Px1 detects that the torch T is at the center of the oscillation pendulum width, the output end L of the connection with the timer contact portion T1a is outputted.

The DC voltage obtained by rectifying the AC voltage from the transformer Tr1 through the rectifier circuit Rec1 is pressurized to the relay coil Ry1, and the relay coil Ry1 is energized through the timer contact portion T1a. The diode D1 is for protecting the relay coil Ry1, and the electrolytic capacitor C1 is for alternating current cut.

As the relay coil Ry1 is energized, the normally closed contact portion Ry1a of the relay coil Ry1 is opened, the energization of the relay coil X8 is interrupted, and the normally open contact portion X8a to the closed state is blocked. X8c) is open, or normally closed contact portions X8d and X8e return to the closed state. That is, the energization to the vibration motor M1 is cut off, the vibration motor M1 stops, and the torch T stops at the center of the vibration pendulum width.

If welding upper drive is to be resumed, press the welding start switch PB1 again to start the welding upper drive and the vibration drive of the torch T. If the welding lower drive is to be performed, change the switch SW2 to "low". By switching to the " side and pressing the welding start switch PB1 again, the trolley 1 performs the above operation in (c-1, welding lower drive). Further, the manual switch SW4 is also effective, and in response to the operation of the manual switch SW4, the above-mentioned "a. Bogie down-drive" or "b. Balance up-and-down "is performed. However, if the upper limit switch ST is switched from open to closed without the welding switch PB2 being opened (when the bogie 1 reaches the upper limit position), the relay is closed by the closing of the upper limit switch ST. The coil X4 is energized to close the normally open relay contact portion X4a, and at the same time the normally closed relay contact portion X4b is opened.

When the normally open relay contact portion X4a is closed, the relay coil X6 is energized, and the relay cut-off portion X2a is responsive to the energization of the relay coil X2 because the conversion switch SW2 is closed to the upper side. Is already closed). Normally closed relay contact portions X6a and X6b are opened. Since the relay contact portion X6b is opened, the energization of the relay coils X1 and X1A is interrupted, and the relay contact portion X1d normally closed by normally open relay contact portions X1a to X1c, X1g, X1Ag and X1Ac is opened. -X1f, X1Ab, X1Ad) returns to closing.

Opening of the relay contact portions X1b to X1c and X4b is performed by the above-described direct current circuit of the welding phase drive (output terminal ② of the speed control substrate NTW2 → contact portion X1b → contact portion X2b → contact portion X2d). ) → Contact part (X4b) → Balance drive motor (M2) → Timer contact point (T1) → Contact part (X2c) → Stepped portion (①) of NTW2) Cut off the current and stop the lowering of the cart 1 do. The welding power supply PS stops the supply of welding power to the torch T by opening the normally open relay contact portion X1Ac, and at the same time, the normally closed contact portion X6a of the relay coil X6. Since the energization to the relay coil X7 is stopped by the opening of the torch T, the torch T stops at the center of the vibration amplitude in the same manner as when the vibration drive of the torch T is pressed by the stop button PB2.

Thus, one step of the welding phase drive is completed. In order to perform welding downdrive, switch 1 is switched to the "lower" side, and the welding start switch PB1 is pressed again, and the trolley | bogie 1 performs the above operation in (c-1. Welding downdrive). Do it. Further, regarding the operation of the manual switch SW4, the above-mentioned "a. Can only carry out a cart.

The features of the above embodiments are summarized below. (1) The rails 51 are fixed to the rail stands 60a and 60b so as to reach 45 ° with respect to the surface of the right vertical plate W2, and at the same time, the respective sticks 56b of their stands are made horizontal and their The tip is brought into contact with the surface of the left vertical plate W1 and the rail 51 is fixed to the right vertical plate W2 so that the rail 51 is at a predetermined distance and parallel to the left and right vertical plates W1 and W2. In addition, the flat surface of the rail 51 becomes 45 degrees with respect to the left and right vertical plates W1 and W2.

When the trolley | bogie 1 is attached to the rail 51, the extension line of the longitudinal axis of 1st arm y1 will substantially intersect with the welding reference line Lw. In other words, the longitudinal direction of the 1st arm y1. The axis is 45 ° with respect to the left and right vertical plates W1 and W2, and is substantially perpendicular to the welding reference line Lw. Since the copying roller y7 is supported by the second arm y3 through the copying arm y6 and the second arm y3 is approximately parallel to the first arm y1, the copying roller y7 is automatically The phase is opposed to the welding reference phase Lw. As the compression coil spring k1 pushes the first arm y1 in the direction approaching the welding reference line Lw, the imitation roller y7 simultaneously contacts the left and right vertical plates W1 and W2, that is, the welding reference line. Enter inside the corner (L) with (Lw). That is, it automatically comes in contact with both of the left and right vertical plates W1 and W2 of the corner.

(2) For example, even when the first arm y1 does not become 45 ° with respect to each of the left and right vertical plates W1 and W2 due to the bending of the left and right vertical plates W1 and W2, the second arm y3 may be used. ) Can be rotated with respect to the first arm y1 through the shaft bar y2 extending in the z direction, and since it is pressed by the compression coil spring K1 as described above, the imitation roller y7 is simultaneously left and right. The second arm y3 rotates so as to enter the position contacting the vertical plates W1, W2, that is, the angle (corner) where the welding reference line Lw is located.

As a result, the roller y7 accurately follows the angle (welding reference line Lw) of the left and right vertical plates W1 and W2 between the trolley 1 moving in the z direction. Since the welding torch T is supported by the second arm y3 through the third arm y4, the welding target position of the welding torch T is substantially the same as the imitation movement trajectory of the imitation roller y7 ( However, the movement trajectory of the roller y7 is moved in parallel). Therefore, the welding position during the z direction movement of the trolley | bogie 1 by the welding torch t becomes accurate with respect to the welding reference line Lw. Even if the left and right vertical plates W1 and W2 have bends and the welding reference line Lw is bent, the beads of the same length (constant width) of the same length are obtained at exactly the same length as the welding reference line Lw and weld quality is obtained. This improves.

(3) Operate the adjustment knob y14 of the y direction adjusting mechanism 20Y to change the trajectory of the welding target position of the welding torch T relative to the mimic movement trajectory (welding reference line Lw) of the imitation roller y7. Direction can be adjusted.

For example, when the welding is completed in one circuit, the trajectory of the welding target position of the welding torch T may be the same as the mimic movement trajectory (welding reference line Lw) of the imitation roller y7. When the welding is completed two or more times, the position in the y direction based on the welding target position (welding reference line Lw) of the welding torch T in each time is determined in advance, and the welding torch T for each time is determined. You can adjust the welding target position (y direction). Therefore, even in the case of a plurality of weldings, even if the welding reference line Lw is bent, beads of the same length (constant width) of the same length that are consistent with the welding reference line Lw and stable at the same time can be obtained, and the welding quality is improved.

(4) Support the first arm y1 so as to be movable in the x direction on the trolley 1, support the imitation roller y7 and the welding torch T with the first arm y1, and the compression coil spring k1. ), The slide rod (x2a) and the handle (x1), so that the first arm (y1) is set to the imitation position and retreat uchi, the imitation position and retreat position setting of the imitation roller (y7) and welding torch (T) This is easy. When the imitation position is set, the compression coil spring K1 imitates the imitation roller y7, that is, the compression coil spring k1 is shared with the drive to the imitation position of the first arm y1 and the imitation pressure is applied. Therefore, the combination of the imitation mechanism and the mechanism for setting the imitation position / withdrawal position is simple, the structure is simple, and the reliability is high.

(5) Since the removal handle 1a can be rotated to remove the relatively heavy trolley 1 from the relatively long rail 51, or the trolley 1 can be mounted on the rail 51, that is, the trolley 1 is mounted. Since it can be detachably attached to the rail 51, for example, when welding at a certain place is finished, the trolley 1 is peeled off, the rail 51 is transported to the next welding place, set there, and the bogie (1: welding wire feeding) Device) can be mounted on the rail 51, so that the rail 51 can be easily transported and installed in a welding place.

(6) When the trolley 1 is placed at the upper limit position (or the lower limit position) and the welding start switch PB1 is closed, the controller C automatically starts welding and the lowering drive (rising drive) of the trolley 1 is started. If welding is done up to the limit position (upper limit position), the welding stops automatically and at the same time stops the lower driving (rising driving) of the trolley 1 and waits for the operator's instruction (switch operation). There is no need to follow, and several welding apparatuses can be used in parallel. This improves worker efficiency.

(7) In addition to the welding start switch PB1 and the welding stop switch PB2, the switch SW4 of manual operation is provided. When the operator closes the manual switch SW4 to the lower side, the controller C moves to the bogie 1 Drive down and carry out the lower drive of the bogie 1 until the limit switch SB switches from open to closed by reaching the bogie 1, or the manual switch SW4 returns to the neutral position. Similarly, when the operator closes the manual switch SW4 to the rising side, the controller C drives the trolley 1 upward, and the upper limit switch ST switches from the open to the closed by the arrival of the trolley 1 or Since the trolley 1 is driven up until the manual switch SW4 is returned to the neutral position, and the welding torch T is not energized at this time, the welding end position in the z direction and the welding start position are confirmed beforehand. Running of the truck (1) The below.

(8) In addition to the above (7), the up / down switch striker (SRT, SRB) for converting the upper limit switch (ST) and the limit switch (SB) from the open to the closed position in the z direction with respect to the rail (51). It is free to adjust, and stops the trolley 1 at the welding end position in (7), fixes the lower switch striker SRB at the position which closes the limit switch SB, and stops the trolley 1 to the welding start position. By fixing the phase switch scriber SRT at the position where the upper limit switch ST is closed, the melting start position and the welding end position in the z direction are determined. This can be done based on visual confirmation of the welding target position of the actual torch T, which is easy and realistic for the operator.

(9) Since more vibration-free welding (lower welding) and vibration welding (upper welding) can be selected, the operator can select an effective welding mode (with or without vibration) in accordance with the required welding conditions (especially bead width). Since it can be combined, the required welding can be realized with high work efficiency. Since the vibration width can be adjusted with the knob 131a and the welding target position can be adjusted with the knob y14, the degree of freedom in selecting and combining welding modes (with or without vibration) is high, and the desired welding can be realized with high work efficiency. . The vibration mechanism 100 vibrates the welding torch T not only in the direction y orthogonal to the vehicle traveling direction z, but also in the vertical direction z in synchronization with the y direction vibration, and the base metal (steel plate) and the weld metal. By uniformizing the heat input distribution to, the possibility of the molten metal flowing down is reduced, and at the same time, the familiarity of the weld bead to the base material is good, and a high-quality welded joint in a bead shape is obtained.

Claims (12)

Rail fixing means for fixing the rail member in parallel to a vertical line intersecting two steel plates perpendicular to each other; A first arm elongated in a direction forming an angle of 45 ° with respect to the two steel plates; For driving driving, the first arm is fixedly supported in the horizontal and vertical directions orthogonal to the direction so as to be movable in the longitudinal direction thereof, and at the same time, which is mounted on the rail member and frequently in the direction in which he is lengthened along the rail member. A trolley including an electric motor; A spring member for applying a force to drive the first arm relative to the trolley in a direction in which it extends and in a direction approaching the two steel plates; A copying roller which is supported by a first arm and faces a corner where the two steel plates meet in a direction in which the first arm is long; A vibrating mechanism including an electric motor for supporting a fillet welding torch and being vibrated in a direction perpendicular to a direction in which the fillet welding torch is perpendicular to the direction in which the rail member is elongated; A welding power supply for supplying welding power to the torch; A welding wire supply device for supplying a welding wire to the torch; And a controller for energizing the two electric motors for driving the vehicle and driving the vibration of the torch, and at the same time, supplying the welding power to the torch through the welding power source. 2. The apparatus of claim 1, further comprising: a second arm supporting the mimic roller and the vibrating mechanism and rotatably coupled to the first arm about an axis extending in a vertical direction perpendicular to the direction in which the first arm extends. Upright fillet welding device, characterized in that. The apparatus of claim 1, further comprising: a third arm coupled to the second arm rotatably about an axis extending in a vertical direction perpendicular to the direction in which the first arm extends, the third arm supporting the vibration mechanism; And means for adjusting an angle of rotation of the third arm relative to the second arm. 4. The eccentric cam according to claim 3, wherein the vibrating mechanism is fixed to an axial body which is vertically elongated and supported by a third arm and is rotated by an electric motor for vibration driving and rotates integrally with the axial body. And a pendulum member driven reciprocatingly rotating about a vertical axis with respect to the third arm, and the fillet welding torch is supported by the pendulum member. 5. The pendulum member of claim 4, wherein the pendulum member is rotatable about the horizontal axis with respect to the third arm, and the vibrating mechanism is again accompanied by a reciprocating rotational movement about the vertical axis of the pendulum member. An upright fillet welding device comprising a mimic roller and roller guide means for driving movement. 6. The vibration mechanism according to claim 4 or 5, wherein the vibrating mechanism is supported by a swing arm reciprocatingly driven by the eccentric cam about a vertical axis, supported by the swing arm, and coupled to the pendulum member in the rotational movement direction thereof. And a slider which slides relatively in the orthogonal horizontal direction, and an amplitude adjusting means for positioning the corresponding slider in the horizontal direction orthogonal to the reciprocating rotational direction of the swing arm. The method of claim 1, 2, 3, 4 or 5, wherein the rail member is a flat plate; The rail fixing means is a rail stand which is fixed to one side of the two steel sheets and supports the rail member in a posture whose flat surface is substantially 45 ° with respect to the two steel sheets. 8. The upright fillet welding device according to claim 7, wherein the rail stand comprises a stick rotatable about an axis perpendicular to the flat surface of the steel plate to which it is fixed. 9. A rail according to claim 1, 2, 3, 4, 5 or 8, wherein the rail member comprises a rack parallel to the direction in which the longitudinal axis thereof is elongated; The bogie includes an reducer driven by the electric motor for driving, and an upright fillet welding device comprising a pinion coupled to the output shaft of the reducer and engaged with the rack. 10. The method according to claim 1, 2, 3, 4, 5, or 8, wherein the rail member includes a phase switch striker capable of positioning in a direction in which the longitudinal axis thereof is elongated; The bogie includes a phase limit switch which opens / closes by contact of the phase switch striker; The controller supplies input means for instructing the operator to start / stop welding and bogie driving / stop, and energizes the electric motor for bogie driving in response to the bogie driving instruction of the bogie and stops the energization in response to the bogie stop instruction. In response to the bogie positioning motor energizing circuit and welding start instruction, the welding power supply is instructed to supply the welding power to the torch, and the electric power is responded to the opening / closing conversion of the upper limit switch by contact with the phase switch striker. The upper limit by contacting the phase switch striker through an electric supply instruction circuit instructing the stop of supply and a current of a polarity rotating in the direction of the bogie ascending to the bogie drive in response to the welding start instruction. In response to the switching of the opening and closing of the switch, a welding-driven motor driving circuit for stopping the energization and instructions for welding start And a vibration drive motor energizing circuit for energizing the electric motor for vibration driving and stopping the energization in response to the switching of the upper limit switch on / off by contact with the phase switch striker. Upright fillet welding device. 11. The vibration mechanism of claim 10, wherein the vibrating mechanism includes a center sensor for detecting that the pendulum member is at a center point of the reciprocating rotational motion; The energization circuit of the vibration driving motor stops the energization of the electric motor for vibration driving when the center sensor is detected at the center point after the opening / closing of the upper limit switch is converted by contact with the phase switch striker. Upright fillet welding device. 12. The method according to claim 10, wherein the rail member includes a lower switch striker capable of adjusting a position in a direction in which the longitudinal axis thereof is elongated; The bogie includes a limit switch which opens / closes by contact of the downswitch striker; The controller includes an input means for instructing downward welding; the electric supply indicating circuit instructs the welding power supply of the welding power to the torch and the lower switch striker in response to an indication of the start of welding of the downward welding. Instructing to stop the power supply in response to the switching of the opening / closing of the limit switch by the touch of; In the welding, the bogie drive motor energizing circuit energizes the electric current of the polarity rotating in the bogie downward direction to the bogie drive electric motor in response to the instruction to start welding of the downhill welding, and then reaches the lower switch striker. An upright fillet welding device characterized in that the energization is stopped in response to the switching of the switch.